challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/intake/ReverseIntakeContinuous.java

   1 package org.usfirst.frc.team3501.robot.commands.intake;
   2
   3 import org.usfirst.frc.team3501.robot.Robot;
   4 import org.usfirst.frc.team3501.robot.subsystems.Intake;
   5
   6 import edu.wpi.first.wpilibj.command.Command;
   7
   8 /**
   9  * Reverses the intake until the button triggering this command is released
  10  *
  11  * pre-condition: This command must be run by a button in OI with
  12  * button.whileHeld(...).
  13  */
  14 public class ReverseIntakeContinuous extends Command {
  15   private Intake intake = Robot.getIntake();
  16
  17   private double previousMotorValue = 0;
  18   private double targetMotorValue = intake.REVERSE_SPEED;
  19
  20   public ReverseIntakeContinuous() {
  21     requires(intake);
  22   }
  23
  24   // Called just before this Command runs the first time
  25   @Override
  26   protected void initialize() {
  27   }
  28
  29   // Called repeatedly when this Command is scheduled to run
  30   @Override
  31   protected void execute() {
  32     double motorValue = (6 * previousMotorValue + targetMotorValue) / 7;
  33     previousMotorValue = motorValue;
  34     intake.setSpeed(motorValue);
  35   }
  36
  37   // Make this return true when this Command no longer needs to run execute()
  38   @Override
  39   protected boolean isFinished() {
  40     return false;
  41   }
  42
  43   // Called once after isFinished returns true
  44   @Override
  45   protected void end() {
  46     intake.stopIntake();
  47   }
  48
  49   // Called when another command which requires one or more of the same
  50   // subsystems is scheduled to run
  51   @Override
  52   protected void interrupted() {
  53     end();
  54   }
  55 }